Regular Papers

International Journal of Control, Automation and Systems 2021; 19(12): 4078-4089

Published online December 6, 2021

https://doi.org/10.1007/s12555-020-0708-y

© The International Journal of Control, Automation, and Systems

Adaptive Tracking Control of a Class of Nonlinear Systems with Input Delay and Dynamic Uncertainties Using Multi-dimensional Taylor Network

Yu-Qun Han, Wen-Jing He, Na Li, and Shan-Liang Zhu*

University of Science and Technology

Abstract

This paper concerns on the control problem of a class of nonlinear systems with input delay and dynamic uncertainties using multi-dimensional Taylor Network (MTN) control method. Firstly, a new variable is introduced to eliminate the effect of input delay by combining Padé approximation with Laplace transformation. Secondly, a MTN-backstepping-based control strategy is constructively designed by introducing a new coordinate transformation, and the proposed controller has the advantages of simple structure and good real-time performance. Finally, the effectiveness of the proposed MTN-based control approach is demonstrated by three examples.

Keywords Adaptive control, dynamic uncertainties, input delay, multi-dimensional Taylor network, nonlinear systems.

Article

Regular Papers

International Journal of Control, Automation and Systems 2021; 19(12): 4078-4089

Published online December 1, 2021 https://doi.org/10.1007/s12555-020-0708-y

Copyright © The International Journal of Control, Automation, and Systems.

Adaptive Tracking Control of a Class of Nonlinear Systems with Input Delay and Dynamic Uncertainties Using Multi-dimensional Taylor Network

Yu-Qun Han, Wen-Jing He, Na Li, and Shan-Liang Zhu*

University of Science and Technology

Abstract

This paper concerns on the control problem of a class of nonlinear systems with input delay and dynamic uncertainties using multi-dimensional Taylor Network (MTN) control method. Firstly, a new variable is introduced to eliminate the effect of input delay by combining Padé approximation with Laplace transformation. Secondly, a MTN-backstepping-based control strategy is constructively designed by introducing a new coordinate transformation, and the proposed controller has the advantages of simple structure and good real-time performance. Finally, the effectiveness of the proposed MTN-based control approach is demonstrated by three examples.

Keywords: Adaptive control, dynamic uncertainties, input delay, multi-dimensional Taylor network, nonlinear systems.

IJCAS
June 2024

Vol. 22, No. 6, pp. 1761~2054

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